CN116369055A - Day lily picking device - Google Patents
Day lily picking device Download PDFInfo
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- CN116369055A CN116369055A CN202310359517.9A CN202310359517A CN116369055A CN 116369055 A CN116369055 A CN 116369055A CN 202310359517 A CN202310359517 A CN 202310359517A CN 116369055 A CN116369055 A CN 116369055A
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- 239000007779 soft material Substances 0.000 claims description 4
- 238000000034 method Methods 0.000 description 11
- 241000196324 Embryophyta Species 0.000 description 9
- 238000003306 harvesting Methods 0.000 description 6
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- 238000012986 modification Methods 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 238000010248 power generation Methods 0.000 description 2
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
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Abstract
The invention belongs to the field of agricultural mechanical equipment, and particularly relates to a day lily picking device. The daylily picking device is used for picking daylily and comprises a walking component, a picking component, a collecting component, a vision component and a control component, wherein the picking component is arranged on a beam of the walking component and comprises a mechanical arm, the upper end of the mechanical arm is connected with the beam, a picking clamp is arranged below the mechanical arm, the collecting component comprises a negative pressure suction nozzle and a collecting box, the negative pressure suction nozzle is opposite to the picking clamp, and the collecting box is connected with the negative pressure suction nozzle through a pipeline; the visual component is opposite to the movement area of the picking component and is used for collecting images of the movement area; the control component acquires the position information of the target day lily according to the image of the movement area, so that the picking pliers reach the target position to pick, and the negative pressure suction nozzle is started to collect the target day lily. The invention can automatically obtain the position of the mature day lily and automatically pick the mature day lily, thereby greatly reducing the labor cost.
Description
Technical Field
The invention belongs to the field of agricultural mechanical equipment, and particularly relates to a day lily picking device.
Background
Day lily is planted in a general field, flower buds grow fast in a picking period, flower buds are too many, the day lily quality can be reduced, so that the day lily picking window period is short, and the day lily is picked in the early morning, because the current day lily is picked completely by manpower, the operation intensity is high, the efficiency is low, a plurality of day lily actually can not be picked at all, the picking time is lost, the on-site harvester can not pick at all, and the actual waste is very serious. At present, the method is basically used for manually harvesting, the labor intensity is high during harvesting, most of the method is used for harvesting at night, the daylily is seriously damaged due to violence harvesting, the daylily cannot bloom in the coming year, automatic harvesting can not well identify the pickable daylily, and the picking efficiency is low.
Disclosure of Invention
According to the daylily picking device, the position information of the target daylily can be obtained according to the image acquired by the visual component, and the picking of the target daylily is realized through the picking component, so that the intelligent picking of the daylily is realized.
The main technical scheme of the invention is as follows:
a day lily picking device for picking day lily, the day lily picking device comprising:
the walking assembly comprises a cross beam, a first supporting leg and a second supporting leg are arranged on two sides of the cross beam, a first walking wheel is arranged at the lower end of the first supporting leg, and a second walking wheel is arranged at the lower end of the second supporting leg;
the picking assembly is arranged on the cross beam and comprises a picking clamp and a mechanical arm, wherein the mechanical arm is a mechanical arm with six degrees of freedom or seven degrees of freedom, the picking clamp is arranged at the front end of the mechanical arm, and the rear end of the mechanical arm is connected with the cross beam;
the collecting assembly comprises a negative pressure suction nozzle and a collecting box, the negative pressure suction nozzle is opposite to the picking clamp, and the collecting box is connected with the negative pressure suction nozzle through a pipeline;
the visual component is opposite to the movement area of the picking component and is used for collecting images of the movement area;
the control component acquires the position information of the target day lily according to the image of the moving area, provides a moving signal for the picking component according to the position information so that the picking pliers reach the target position, provides a picking signal for the picking pliers, and cuts off the flower diameter of the target day lily and starts the negative pressure suction nozzle to collect the target day lily.
The daylily picking device further comprises a power assembly, wherein the power assembly is an internal power device or an external power device, the internal power device is arranged on the walking assembly, the external power device is connected with the walking assembly through a connecting piece, and the external power device provides pushing force or pulling force for the walking assembly through movement of the external power device.
In the daylily picking device, the built-in power device is a motor;
in the daylily picking device, the external power device is a tractor or an electric walking vehicle.
The daylily picking device further comprises a clamping assembly, the clamping assembly comprises a first clamping piece and a second clamping piece, the first clamping piece comprises a first connecting arm and a first clamping arm which are connected in a rotating mode, the first clamping arm is pushed by a linear air cylinder, the first connecting arm is connected with the first supporting leg, the second clamping piece comprises a second connecting arm and a second clamping arm which are connected in a rotating mode, the second clamping arm is pushed by the linear air cylinder, and the second connecting arm is connected with the second supporting leg.
In the daylily picking device, the picking clamp is a soft pneumatic clamping jaw;
in the daylily picking device, the first clamping arm and the second clamping arm are made of soft materials with low friction coefficients.
In the daylily picking device, the visual component comprises a first image acquisition piece and a second image acquisition piece,
in the daylily picking device, the first image acquisition component is used for acquiring a two-dimensional color image of a motion area of the picking component, and the control component takes the mature daylily with the two-dimensional color image as a target daylily;
in the daylily picking device, the second image acquisition piece is used for acquiring a three-dimensional image of a motion area of the picking assembly so as to acquire the position information of the target daylily, and the control assembly provides position coordinates for the mechanical arm according to the position information so that the picking pliers reach the target position.
In the daylily picking device, the mature daylily is in a bud state, and the color of the mature daylily comprises yellow and green.
In the daylily picking device, the light shielding plates are arranged on two sides of the visual assembly, so that the visual assembly can acquire clear images.
The daylily picking device further comprises a navigation assembly, wherein the navigation assembly consists of a GPS navigation unit and a laser navigation unit and is used for accurate positioning and path planning.
The daylily picking device further comprises a full material early warning device, when the daylily in the collecting box reaches the set quantity, the full material early warning device can report to the control center through the 5G module, and the control center sends manual or automatic guiding transport vehicles to replace the collecting box.
By means of the technical scheme, the invention has at least the following advantages:
through the daylily picking device that this embodiment provided, can realize full-automatic collection to the daylily, the daylily picking device can automatic discernment the ripeness degree of daylily, can also obtain the position of ripe daylily voluntarily to automatic picking ripe daylily, thereby significantly reducing the cost of labor.
The foregoing description is only an overview of the present invention, and is intended to provide a better understanding of the present invention, as it is embodied in the following description, with reference to the preferred embodiments of the present invention and the accompanying drawings.
Drawings
FIG. 1 is a schematic view of a daylily picking device according to the present invention;
FIG. 2 is a schematic view of the structure of the present invention prior to picking;
FIG. 3 is a schematic view of a mechanical arm according to the present invention;
FIG. 4 is another schematic structural view of the day lily picking device of the present invention;
FIG. 5 is a rear view of the daylily picking device of FIG. 4;
FIG. 6 is a top view of the day lily picking device of FIG. 4;
fig. 7 is a schematic structural view of the first clamping member of the present invention.
Detailed Description
In order to further describe the technical means and effects adopted for achieving the preset aim of the invention, the following detailed description refers to the specific implementation, structure, characteristics and effects according to the application of the invention with reference to the accompanying drawings and preferred embodiments.
As shown in fig. 1 to 7, the present embodiment discloses a day lily picking device for picking day lily, the day lily picking device includes a walking component 1, a picking component 2, a collecting component 3, a vision component 4 and a control component, the walking component 1 includes a cross beam 13, two sides of the cross beam 13 are provided with a first supporting leg 11 and a second supporting leg 12, a first walking wheel 14 is provided at the lower end of the first supporting leg 11, and a second walking wheel 15 is provided at the lower end of the second supporting leg 12; the picking assembly 2 is arranged on the cross beam 13, the picking assembly 2 comprises a picking clamp 21 and a mechanical arm 22, the mechanical arm 22 is a six-degree-of-freedom or seven-degree-of-freedom mechanical arm 22, the picking clamp 21 is arranged at the front end of the mechanical arm 22, and the rear end of the mechanical arm 22 is connected with the cross beam 13; the collecting assembly 3 comprises a negative pressure suction nozzle 31 and a collecting box 32, the negative pressure suction nozzle 31 is opposite to the picking clamp 21 (see fig. 2 in particular), and the collecting box 32 is connected with the negative pressure suction nozzle 31 through a pipeline; the vision component 4 is opposite to the movement area of the picking component 2, and the vision component 4 is used for acquiring images of the movement area; the control component acquires the position information of the target day lily according to the image of the movement area, provides a movement signal for the picking component 2 according to the position information so that the picking clamp 21 reaches the target position, provides a picking signal for the picking clamp 21, and the picking clamp 21 is operated to pinch off the day lily flower path and starts the negative pressure suction nozzle 31 to collect the target day lily.
According to the day lily picking device provided by the embodiment, the assembly platform of the picking assembly 2, the collecting assembly 3, the vision assembly 4 and the control assembly is provided through the walking assembly 1, and the picking assembly 2, the collecting assembly 3, the vision assembly 4 and the control assembly are driven to move together through the movement of the walking assembly 1.
The present embodiment uses the six-degree-of-freedom or seven-degree-of-freedom robotic arm 22 to mount the picking pincer 21, thereby enabling the picking pincer 21 to have a high degree of flexibility and accuracy.
The picking clamp 21 cuts off the daylily and simultaneously immediately opens the negative pressure of the negative pressure suction nozzle 31, so that the daylily can be immediately sucked into the collecting box 32 under the action of the negative pressure after being cut off.
In a specific implementation, since the picking clamp 21 is mounted at the front end of the 6-degree-of-freedom or 7-degree-of-freedom mechanical arm 22, when the mechanical arm 22 moves, the mechanical arm 22 can drive the picking clamp 21 to move, and the mechanical arm 22 is driven by a servo motor. According to practical situations, the picking pincer 21 comprises the following two modes: (1) the tightening and loosening modes of the picking clamp 21 can be pivot opening and closing type air claws, and the air driving cylinder enables the picking clamp 21 to be tightened and loosened; (2) it is also possible to use an electric jaw to drive the tightening and loosening of the picking pincer 21 by means of electric energy, a mechanical structure after driving a motor speed reducer or the like. In order to avoid the damage of the picking clamp 21 to the plants, in this embodiment, the picking clamp 21 is a soft pneumatic clamping jaw.
In a specific implementation, because daylily is mostly planted in rows (as shown in fig. 4, three rows of daylily are displayed), the walking process of the walking device is mostly straight, in a specific picking process, the first supporting leg 11 and the second supporting leg 12 of the walking component 1 are firstly placed on two sides of one row of daylily to be picked, and after the daylily in the row is picked, the first supporting leg 11 and the second supporting leg 12 of the shape component are placed on two sides of the other row of daylily with the daylily to be picked.
In a specific implementation, the distance of each movement of the walking device is the distance of two daylily plants, so that the image collected by the vision component 4 can cover all the daylily plants. When the running gear is in a stop state, the vision component 4 collects images of the movement area of the picking component 2, and the daylily is arranged in the movement area, so that the collection of the daylily images is convenient, and the picking component 2 is convenient to pick the daylily.
When the running gear stops in the first area, the control component recognizes that the first area has ripe day lily (the ripe day lily is the target day lily), obtains the position information of the target day lily according to the image, the control component provides position coordinates for the picking component 2, the picking clamp 21 reaches the position of the target day lily according to the position coordinates, the picking clamp 21 is started to perform picking action, then the control component starts the negative pressure suction nozzle 31 of the collecting component 3 to collect the target day lily picked by the picking clamp 21, and the collected target day lily is temporarily stored in the collecting box 32. Thus, the collection process of one target day lily is finished, and then the next target day lily in the first area can be collected. After the collection of the target daylily in the first area is completed, the running gear moves to the second area to start the collection of the new target daylily.
The following describes the walking method of the walking device of this embodiment further, taking the example that the planting interval of two daylily plants in the same row is 1 meter, that is, the distance between the first area and the second area is 1 meter. In order to avoid the situation that part of day lily caused by one picture is covered, in this embodiment, the day lily in the first area is a first plant day lily, the day lily in the second area is a second plant day lily, and the following three steps of optimization are performed on the walking route set by the walking device: firstly, collecting a first image of a day lily plant in a first area at a distance of 10cm from the day lily plant in the first area, and analyzing the position of the mature day lily to start picking; collecting a second image of the day lily plants in the first area at the position of 0cm of the day lily plants reaching the first area, analyzing the position of the mature day lily, and continuing picking; and thirdly, collecting a third image of the day lily plants in the first area at a position 10cm away from the day lily plants in the first area, analyzing the positions of the mature day lily plants, and continuing picking. Through the three-step method, the daylily ripened in the first area can be identified and picked.
Then, the walking device walks to the second area to start the identification and picking work, and the specific steps are carried out by referring to the three-step optimization method: firstly, the travelling device starts to collect first images, identify and pick daylily plants in a second area when travelling to a position 10cm away from the second area; step two, the travelling device starts to collect a second image, identify and pick a day lily plant in a second area when travelling to a position 0cm away from the second area; and thirdly, the travelling device starts to collect third images, identify and pick the day lily plants in the second area when travelling to a position 10cm away from the second area.
Of course, the planting interval of the two daylily plants can be any distance between 0.5 and 2 meters. The planting interval of the two daylily plants does not affect the specific embodiment of the invention.
As an embodiment which can be changed, the first image of the day lily plant in the first area can be obtained at any distance of 5-10 cm from the day lily plant in the first area.
As an embodiment which can be changed, the third image of the day lily plant in the first area can be obtained at any distance of 5-10 cm away from the day lily plant in the first area.
As a variable embodiment, the first image of the day lily plant in the first area may be acquired at an arbitrary distance of 10 to 15cm from the day lily plant in the first area.
As a variable embodiment, the third image of the day lily plant in the first area may be acquired at any distance of 10 to 15cm away from the day lily plant in the first area.
As an embodiment which can be changed, the first image of the day lily plant in the second area can be obtained at any distance of 5-10 cm from the day lily plant in the second area.
As an embodiment which can be changed, the third image of the day lily plant in the second area can be obtained at any distance of 5-10 cm away from the day lily plant in the second area.
As a variable embodiment, the first image of the day lily plant in the second area may be acquired at an arbitrary distance of 10 to 15cm from the day lily plant in the second area.
As a variable embodiment, the third image of the day lily plant in the second area may be acquired at any distance of 10-15 cm away from the day lily plant in the second area.
Through the daylily picking device that this embodiment provided, can realize full-automatic collection to the daylily, the daylily picking device can automatic discernment the ripeness degree of daylily, can also obtain the position of ripe daylily voluntarily to automatic picking ripe daylily, thereby significantly reducing the cost of labor.
In this embodiment, the negative pressure suction nozzle 31 is triggered only when the picking pliers 21 pick or cut the day lily, and the negative pressure suction nozzle 31 is closed after the day lily is sucked again, so that the air flow of the negative pressure suction nozzle 31 is prevented from disturbing the day lily plants, and the picked day lily is sucked into the collecting box 32 through the negative pressure suction nozzle 31.
The power assembly is a built-in power device, the built-in power device is arranged on the walking assembly, and concretely, the built-in power device is a motor, and the motor provides walking power for the walking device.
Further, in order to further provide power for the day lily picking device, the day lily picking device further comprises an external power device 7, the external power device 7 is connected with the walking assembly 1 through a connecting piece, and the external power device 7 provides pushing force or pulling force for the walking assembly 1 through movement of the external power device 7.
In this embodiment, the power assembly comprises a tractor module with navigation and power generation functions and a controller, and drives the walking assembly 1 to advance together through the connecting rod when the power assembly moves, and provides electric energy for the picking assembly 2, the collecting assembly 3, the vision assembly 4 and the control assembly. Be equipped with connection power cable and communication cable on the connecting rod, the height-adjustable of connecting rod to adapt to the plant height of day lily, can accomplish quick dismantlement and connection with running gear 1, the connecting piece is the floating connecting piece (specifically can be the universal joint), thereby strengthen the connection reliability on uneven ground.
As a variable embodiment, the external power device 7 may also be an electric walking vehicle. In the existing automatic daylily picking technology, the main power source is usually a battery, however, the rechargeable battery is short in power supply time, so that the picking robot cannot work for a long time and cannot reach the maximum efficiency.
In order to avoid shaking of the plants caused by external factors (wind, etc.), the day lily picking device further comprises a clamping assembly 5, the clamping assembly 5 is used for fixing the plants, the clamping assembly 5 comprises a first clamping member 51 and a second clamping member 52, the first clamping member 51 comprises a first connecting arm 511 and a first clamping arm 512 which are connected in a rotating manner, the first clamping arm 512 is pushed by a linear cylinder 50 (see in particular fig. 7), the first connecting arm 511 is connected with the first supporting leg 11, the second clamping member 52 comprises a second connecting arm 521 and a second clamping arm 522 which are connected in a rotating manner, the second clamping arm 522 is pushed by a linear cylinder, and the second connecting arm 521 is connected with the second supporting leg 12.
In this embodiment, the first connecting arm 511 is fixed on the first leg 11, the second connecting arm 521 is fixed on the second leg 12, specifically, the first connecting arm 511 is perpendicular to the first leg 11, the second connecting arm 521 is perpendicular to the second leg 12, the first clamping arm 512 and the second clamping arm 522 can synchronously rotate under the linear pneumatic force, and during the rotation of the first clamping arm 512 and the second clamping arm 522, two states are included: 1) Relaxed state: the first clamping arm 512 and the second clamping arm 522 are far apart, and the rows of daylily can move from between the first clamping arm 512 and the second clamping arm 522 without colliding with the first clamping arm 512 and the second clamping arm 522; 2) Tightening state: the first clamping arm 512 and the second clamping arm 522 are closer together, and the day lily is clamped by the first clamping arm 512 and the second clamping arm 522.
Specifically, during the traveling process of the day lily picking device, the first clamping arm 512 and the second clamping arm 522 are in a loose state, and when picking starts after the day lily picking device is stopped, the first clamping arm 512 and the second clamping arm 522 are in a clamping state. The first clamping arm 512 and the second clamping arm 522 of the clamping assembly 5 clamp the day lily plants during picking so as to prevent the plants from shaking during picking; after harvesting, the clamping assembly 5 is loosened, and the plant is restored to a normal state.
Further, in order to avoid the damage to the plants caused by the clamping assembly 5, the materials of the first clamping arm 512 and the second clamping arm 522 are soft materials with low friction coefficients. The tail end of the plant clamping module is made of a soft material with a low friction coefficient, and the plant can be effectively protected from being damaged when being clamped.
In order to enable the vision component to identify the maturity of day lily and the position information of the mature day lily, the vision component 4 comprises a first image acquisition component 41 and a second image acquisition component 42, the first image acquisition component 41 is used for acquiring a two-dimensional color image of a motion area of the picking component 2, the control component takes the mature day lily of the two-dimensional color image as a target day lily, and the control component is used for detecting the maturity of day lily according to the two-dimensional color image and judging whether the picking standard is met or not; the color of the mature day lily is yellow-green, and the state of the mature day lily is a bud state. The specific judgment standard is as follows: (1) the flower bud must be in the bud state (no picking is done already) 2 the flower bud must be yellow-green in color, i.e., the flower bud must have yellow or green portions, neither the full yellow nor full green states are picked. Only the daylily which meets the two conditions is the mature daylily which is ready to be picked.
In specific implementation, the step of identifying the mature day lily by the visual component 4 is as follows: 1) The first image acquisition part 41 performs the first image information acquired and transmits the first image information to the control component; 2) The control component firstly identifies outline patterns of all daylilies according to the first image information, wherein the outline patterns comprise N daylilies (first daylilies image, second daylilies image and third daylilies image.); 3) Comparing the first day lily image with bud pictures pre-stored in the control component, and performing color identification when the similarity between the first day lily image and the bud pictures exceeds 80%; 4) When the color is distinguished, the first day lily image is the target day lily if the color of the first day lily image comprises yellow and green, otherwise, if the color of the first day lily image is distinguished, the first day lily image is not the target day lily if the color of the first day lily image comprises only yellow or only green. After the first day lily is identified, the second day lily is identified, the picking is completed according to the position information of the target day lily.
The step of the second image capturing element 42 obtaining the position information of the target day lily includes: 1) The second image acquisition unit 42 acquires first position information of the target day lily image according to the target day lily image resolved by the first image acquisition unit 41; 2) The position on the walking assembly is positioned as second position information, and the difference between the second position information and the first position information is real position information; 3) The control assembly provides position coordinates to the picking assembly 2 based on the actual position information.
The picking clamp 21 reaches the position of the target day lily according to the position coordinates. Specifically, when the picking pliers pinch off the flower diameter at the flower stem of the target day lily, the negative pressure suction nozzle is started immediately to suck the pinched off day lily into the collecting box.
The second image capturing element 42 is configured to capture a three-dimensional image of the moving area of the picking assembly 2, so as to obtain the position information of the target day lily, so as to control the mechanical arm to enable the picking clamp 21 to reach the target position.
The process of acquiring the position information of the target day lily by the second image acquisition unit 42 may be performed simultaneously with the process of identifying the target day lily by the first image acquisition unit 41. That is, the first image capturing unit 41 recognizes the position information of one target day lily, and the second image capturing unit 42 immediately recognizes the position information of the target day lily, and at the same time, the first image capturing unit 41 also starts to recognize the other target day lily.
In order to make the vision component 4 obtain a clear picture, the two sides of the vision component 4 are provided with the light shielding plates 6 for blocking external light, so that the influence of external stray light on the photographing of the vision module can be effectively reduced, and the vision component 4 can obtain a clear image.
The daylily picking device also comprises a driven chassis, a built-in power device (namely a rechargeable battery) is arranged in the driven chassis and used for supplying power to each device of the picking assembly, the collecting assembly, the walking assembly, the vision assembly and the control assembly, and the battery charging can be plug-in charging or power generation charging through a diesel engine.
The daylily picking device also comprises a navigation assembly, wherein the navigation assembly consists of a GPS navigation unit and a laser navigation unit and is used for accurate positioning and path planning. According to the embodiment, the problem of inaccurate positioning of the mobile platform in the prior art is solved by combining GPS navigation and laser navigation, and the intelligent scheduling system is used, so that simultaneous operation of multiple sets of equipment can be cooperatively managed, and the running state of each equipment can be monitored in real time. The day lily picking device can be connected with the cloud platform through the 5G module, and can realize the simultaneous dispatching operation of multiple modules.
The daylily picking device also comprises a full material early warning device, when the daylily in the collecting box 32 is close to a full bin, the daylily is reported to the control center through the 5G module, and then the control center sends manual work or a recovery material frame AGV (Automated Guided Vehicle automatic guide transport vehicle) to replace an empty material frame so as to continue to collect the daylily.
The above description is only of the preferred embodiments of the present invention, and is not intended to limit the present invention in any way, but any simple modification, equivalent variation and modification made to the above embodiments according to the technical substance of the present invention still fall within the scope of the technical solution of the present invention.
Claims (10)
1. A day lily picking device for picking day lily, the day lily picking device comprising:
the walking assembly comprises a cross beam, a first supporting leg and a second supporting leg are arranged on two sides of the cross beam, a first walking wheel is arranged at the lower end of the first supporting leg, and a second walking wheel is arranged at the lower end of the second supporting leg;
the picking assembly is arranged on the cross beam and comprises a picking clamp and a mechanical arm, wherein the mechanical arm is a mechanical arm with six degrees of freedom or seven degrees of freedom, the picking clamp is arranged at the front end of the mechanical arm, and the rear end of the mechanical arm is connected with the cross beam;
the collecting assembly comprises a negative pressure suction nozzle and a collecting box, the negative pressure suction nozzle is opposite to the picking clamp, and the collecting box is connected with the negative pressure suction nozzle through a pipeline;
the visual component is opposite to the movement area of the picking component and is used for collecting images of the movement area;
the control component acquires the position information of the target day lily according to the image of the moving area, provides a moving signal for the picking component according to the position information so that the picking pliers reach the target position, provides a picking signal for the picking pliers, and cuts off the flower diameter of the target day lily and starts the negative pressure suction nozzle to collect the target day lily.
2. The daylily picking device of claim 1, further comprising a power assembly,
the power assembly is an internal power device or an external power device, the internal power device is arranged on the walking assembly, the external power device is connected with the walking assembly through a connecting piece, and the external power device provides pushing force or pulling force for the walking assembly through movement of the external power device.
3. The daylily picking device according to claim 2, wherein,
the built-in power device is a motor;
the external power device is a tractor or an electric walking vehicle.
4. The day lily picking device of claim 1, further comprising a clamping assembly,
the clamping assembly comprises a first clamping piece and a second clamping piece, the first clamping piece comprises a first connecting arm and a first clamping arm which are connected in a rotating mode, the first clamping arm is pushed by a linear air cylinder, the first connecting arm is connected with the first supporting leg, the second clamping piece comprises a second connecting arm and a second clamping arm which are connected in a rotating mode, the second clamping arm is pushed by the linear air cylinder, and the second connecting arm is connected with the second supporting leg.
5. The daylily picking device as claimed in claim 4, wherein,
the picking clamp is a soft pneumatic clamping jaw;
the first clamping arm and the second clamping arm are made of soft materials with low friction coefficients.
6. The daylily picking device according to claim 1, wherein,
the vision assembly includes a first image capturing element and a second image capturing element,
the first image acquisition component is used for acquiring a two-dimensional color image of a motion area of the picking component, and the control component acquires a mature day lily image in the two-dimensional color image as a target day lily;
the second image acquisition piece is used for acquiring a three-dimensional image of a movement area of the picking assembly so as to acquire position information of the target day lily, and the control assembly provides position coordinates for the mechanical arm according to the position information so that the picking pliers reach a target position.
7. The daylily picking device as claimed in claim 6, wherein,
the state of the mature day lily is in a bud state, and the color of the mature day lily comprises yellow and green.
8. The daylily picking device according to claim 1, wherein,
and the two sides of the vision component are provided with light shielding plates, so that the vision component can acquire clear images.
9. The daylily picking device of claim 1, further comprising a navigation assembly,
the navigation assembly consists of a GPS navigation unit and a laser navigation unit and is used for accurate positioning and path planning.
10. The daylily picking device according to claim 1, further comprising a full material early warning device,
when the daylily in the collecting box reaches the set quantity, the full material early warning device can report to a control center through a 5G module, and the control center sends manual or automatic guiding transport vehicles to replace the collecting box.
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| CN202310359517.9A CN116369055A (en) | 2023-04-06 | 2023-04-06 | Day lily picking device |
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| CN202310359517.9A CN116369055A (en) | 2023-04-06 | 2023-04-06 | Day lily picking device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20220081226A1 (en) * | 2020-09-14 | 2022-03-17 | Yamaha Hatsudoki Kabushiki Kaisha | Movable harvesting apparatus and harvesting unit |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20220081226A1 (en) * | 2020-09-14 | 2022-03-17 | Yamaha Hatsudoki Kabushiki Kaisha | Movable harvesting apparatus and harvesting unit |
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